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00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <gtest/gtest.h> 00031 #include <sys/time.h> 00032 00033 #include <vector> 00034 #include "filters/realtime_circular_buffer.h" 00035 00036 using namespace filters ; 00037 00038 void seed_rand() 00039 { 00040 //Seed random number generator with current microseond count 00041 timeval temp_time_struct; 00042 gettimeofday(&temp_time_struct,NULL); 00043 srand(temp_time_struct.tv_usec); 00044 }; 00045 00046 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues) 00047 { 00048 seed_rand(); 00049 for ( uint64_t i = 0; i < runs ; i++ ) 00050 { 00051 xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00052 yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00053 zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00054 } 00055 } 00056 00057 TEST(RealtimeCircularBuffer, InitializationScalar) 00058 { 00059 00060 RealtimeCircularBuffer<double> buf(3, 0); 00061 for (unsigned int i = 0; i < buf.size(); i ++) 00062 { 00063 EXPECT_EQ(buf[i], 0); 00064 } 00065 } 00066 TEST(RealtimeCircularBuffer, InitializationVector) 00067 { 00068 std::vector<double> init_vector; 00069 for (unsigned int i = 0; i < 100; i ++) 00070 init_vector.push_back(i); 00071 00072 RealtimeCircularBuffer<std::vector<double> > vec_buf(3, init_vector); 00073 for (unsigned int i = 0; i < vec_buf.size(); i ++) 00074 { 00075 for (unsigned int j = 0; j < 100; j ++) 00076 EXPECT_EQ(vec_buf[i][j], j); 00077 } 00078 } 00079 00080 00081 int main(int argc, char **argv){ 00082 testing::InitGoogleTest(&argc, argv); 00083 return RUN_ALL_TESTS(); 00084 }